3HAC073107 OM Robot Control Mate-En

ROBOTICS
Operating manual
Robot Control Mate
Trace back information:
Workspace 23B version a11
Checked in 2023-06-20
Skribenta version 5.5.019
Operating manual
Robot Control Mate
RobotWare 7.10
Document ID: 3HAC073107-001

Revision: N
© Copyright 2019-2023 ABB. All rights reserved.

Specifications subject to change without notice.
The information in this manual is subject to change without notice and should not
be construed as a commitment by ABB. ABB assumes no responsibility for any errors
that may appear in this manual.
Except as may be expressly stated anywhere in this manual, nothing herein shall be
construed as any kind of guarantee or warranty by ABB for losses, damage to persons
or property, fitness for a specific purpose or the like.
In no event shall ABB be liable for incidental or consequential damages arising from
use of this manual and products described herein.
This manual and parts thereof must not be reproduced or copied without ABB's
written permission.
Keep for future reference.
Additional copies of this manual may be obtained from ABB.
Original instructions.

Table of contents
Table of contents
Overview of this manual ................................................................................................................... 7
Product documentation .................................................................................................................... 10
1 About the Robot Control Mate 13
2 Safety 17
3 Getting started 21
3.1 Getting started with the Robot Control Mate RS Add-In in RobotStudio ....................... 22
3.2 Getting started with the Robot Control Mate Web .................................................... 25
4 Working with the Robot Control Mate 29

4.1 Controller configuration for Robot Control Mate ...................................................... 29
4.1.1 General configuration ............................................................................... 29
4.1.2 Robot Control Mate on the MGMT port ........................................................ 30
4.1.3 Robot Control Mate on the WAN port .......................................................... 31
4.2 Working with the Robot Control Mate RS Add-In in RobotStudio ................................ 33
4.2.1 User interface of Robot Control Mate RS Add-In ........................................... 33
4.2.2 Procedure .............................................................................................. 34
4.3 Working with the Robot Control Mate Web ............................................................. 39
4.3.1 User interface of Robot Control Mate Web ................................................... 39
4.3.2 Procedure .............................................................................................. 41
5 Reference information 53
5.1 Features in RobotStudio ..................................................................................... 53
5.2 Scenarios for controllers with FlexPendant ............................................................ 59
6 Troubleshooting 61
6.1 What should I do if I experience a certificate failure when opening Robot Control Mate
Web? .............................................................................................................. 61
Index 63
Operating manual - Robot Control Mate 5

3HAC073107-001 Revision: N
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Overview of this manual

About this manual
This manual contains instructions supported by Robot Control Mate which is to be
used in conjunction with an OmniCore based robot. The instructions detail the
usage for moving, modification of position, controlling and calibration.
Usage
This manual should be read before operation.
Who should read this manual?

This manual is intended for:
• operators
• product technicians
• service technicians
• robot programmers
Prerequisites
The reader should:
• Be trained in robot operation.
• Have basic knowledge of RAPID programming language.
• Be familiar with RobotStudio.
References
Reference Document ID
Operating manual - RobotStudio 3HAC032104-001
Product manual - OmniCore C30 3HAC060860-001
Product manual - OmniCore C90XT 3HAC073706-001
Product manual - OmniCore E10 3HAC079399-001
Product specification - OmniCore C line 3HAC065034-001
Product specification - OmniCore E line 3HAC079823-001
Operating manual - OmniCore 3HAC065036-001
Operating manual - Integrator's guide OmniCore 3HAC065037-001
Technical reference manual - System parameters 3HAC065041-001
Application manual - Functional safety and SafeMove 3HAC066559-001
Revisions
Revision Description
A Released with RobotWare 7.0.
Continues on next page

Continued
B The following updates are made in this revision:
• Added a new installation method.
• Updated the user interface figures of Jog tab page and Calibrate tab
page.
• Updated the calibration step.
C The following updates are made in this revision:
• Updated the installation, uninstallation and upgrade procedures.
D The following updates are made in this revision:
• Updated safety related information.
• Updated the installation and upgrade method.
• Added new functions to Jog and Control tab pages.
• Added resolver data transfer function between robot memory and con-
troller to Calibrate group.
• Updated the procedure of working with the PC Jogging add-in.
• Added warning before starting revolution counter update process.
E Released with RobotWare 7.0.2. The following updates are made in this revi-
sion:
• Renamed the product as Robot Control Mate from PC Jogging.
• Restructured the manual to provide step-by-step procedures on con-
trolling and jogging functions.
• Added a note reminding users to disconnect the FlexPendant from the
FlexPendant UI.
• Updated the installation, uninstallation and upgrade procedures.
F The following updates are made in this revision:
• Removed the limitation requiring only one task exists.
• Added the step of task selection when program executions are performed
in multitask scenarios.
G Released with RobotWare 7.1. The following updates are made in this revision:
• Added steps to activate operator safety function AllowMoveRobAuto
for controllers in RobotWare 7.1.
• Updated steps for disconnecting the FlexPendant.
H Released with RobotWare 7.2. The following updates are made in this revision:
• Wording change from "jog" to "auto-jog".
• Updated supported RobotWare and RobotStudio versions, and related
descriptions.
• Supported IRB 1100, IRB 1300 and IRB 14050.
• Added IRB 14050-specific functions, such as LeadThrough and auto-
jogging in arm mode, are added.
• Added interface to use part of Authenticate functionalities in Robot
Control Mate.
• Added steps to edit user grants to make sure control and auto-jogging
functions are available to use.
• Updated the safety related information.
J Released with RobotWare 7.5. The following updates are made in this revision:
• Supported web-based Robot Control Mate.
• Supported CRB 1100, IRB 920 and IRB 1200.
• Wording change from "auto-jog" to "move".
• Modified the UAS-related descriptions for the Robot Control Mate add-
in in RobotStudio.

8 Operating manual - Robot Control Mate
Continued
K Released with RobotWare 7.7. The following updates are made in this revision:
• Supported IRB 1010.
• Supported working on tablet.
• Supported working with controllers connected via WAN port, and added
requirements when the WAN port is used for connection, such as re-
questing token to enable moving functions.
• Renamed Robot Control Mate add-in to Robot Control Mate RS add-in.
• Added procedure of setting execution functions for web-based Robot
Control Mate.
• Added procedures of working with data and I/O.
L Released with RobotWare 7.8. The following updates are made in this revision:
• Supported CRB 15000.
• Updated required RobotStudio version to version 2022.
• Updated the safety related information.
• Added a note about using the physical enabling device associated with
Verify Local Presence and Verify Move Robot in Auto.
• Added troubleshooting to handle the certificate failure when working
with Robot Control Mate Web.
M The following updates are made in this revision:
• Restructured the manual.
• Updated the naming of the Robot Control Mate variants in the manual
to official naming Robot Control Mate RS Add-In and Robot Control
Mate Web.
• Supported CRB 1300.
• Updated the prerequisites to use the Robot Control Mate.
• Updated the user interface description for Robot Control Mate Web.
N Released with RobotWare 7.10. The following updates are made in this revision:
• Supported IRB 360, IRB 930 and new variants of CRB 15000.
• Updated prerequisites for working with CRB 15000.
• Added the procedure of viewing safety controller configurations for
Robot Control Mate Web.
• Added a displayed message when running program in Robot Control
Mate Web.
• Added procedures of editing Move instructions and deleting instructions.

Product documentation
Categories for user documentation from ABB Robotics
The user documentation from ABB Robotics is divided into a number of categories.
This listing is based on the type of information in the documents, regardless of
whether the products are standard or optional.
Tip
All documents can be found via myABB Business Portal, www.abb.com/myABB.
Product manuals
Manipulators, controllers, DressPack/SpotPack, and most other hardware is
delivered with a Product manual that generally contains:
• Safety information.
• Installation and commissioning (descriptions of mechanical installation or
electrical connections).
• Maintenance (descriptions of all required preventive maintenance procedures
including intervals and expected life time of parts).
• Repair (descriptions of all recommended repair procedures including spare
parts).
• Calibration.
• Troubleshooting.
• Decommissioning.
• Reference information (safety standards, unit conversions, screw joints, lists
of tools).
• Spare parts list with corresponding figures (or references to separate spare
parts lists).
• References to circuit diagrams.
Technical reference manuals

The technical reference manuals describe reference information for robotics
products, for example lubrication, the RAPID language, and system parameters.
Application manuals
Specific applications (for example software or hardware options) are described in
Application manuals. An application manual can describe one or several
applications.
An application manual generally contains information about:
• The purpose of the application (what it does and when it is useful).
• What is included (for example cables, I/O boards, RAPID instructions, system
parameters, software).
• How to install included or required hardware.
• How to use the application.

Continued
• Examples of how to use the application.
Operating manuals
The operating manuals describe hands-on handling of the products. The manuals
are aimed at those having first-hand operational contact with the product, that is
production cell operators, programmers, and troubleshooters.

1 About the Robot Control Mate

Introduction
Overview
The Robot Control Mate provides basic instructions for OmniCore-based robot
systems. In cases where a FlexPendant is unavailable, the Robot Control Mate
allows users to control the robot from a connected PC or tablet.
Controllers supporting the Robot Control Mate (option 3065-1 Robot Control Mate)
are attached with a safety warning label. This label indicates that the controller is
delivered and can start in automatic mode, and use Robot Control Mate to control
the robot in scenarios without a FlexPendant.
xx2100000357
Robot Control Mate works in two ways, RobotStudio add-in and web-based HMI.
Key functions provided in two ways are the same.
Key functions
• Moving
With combined selection of the motion mode and coordinate system, the
robot can be moved to a specific position.
• Position modification
You can define a desired target point in the RAPID instruction and use the
target point to modify the robot position.
• Controlling
It allows you to make the motors on and off. It also displays the program
control buttons.
• Calibration
It allows you to update the revolution counter of one or all axes for the robot,
as well as memory data transfer between robot and controller.
• Status display
You can have a quick view on the controller status, such as operating mode,
speed, motor state and program execution state.

Continued
Prerequisites
To use and operate the robot through Robot Control Mate, the following are
required.
Item Requirement Required by...
Robot Control Robot Control
Mate RS Add- Mate Web
In
Controller OmniCore controller with RobotWare 7.8 i X X
Robot IRB 360, IRB 910INV, IRB 920, IRB 930, IRB 1010, IRB X X
1100, IRB 1200, IRB 1300, IRB 14050, CRB 1100, CRB 1300
and CRB 15000 are supported.
Detailed information about each robot can be found in its
product manual.
CRB 15000 To fulfill ISO 10218-1:2011 5.13 Movement without drive X X
power, a FlexPendant must be available on the site when
using RobotWare 7.10 and higher.
RobotStudio RobotStudio 2022 i X X
PC/tablet • OS: Windows 10, 64-bit X X
• CPU: 2GHz or faster processor, more cores recom-
mended
• RAM: 4GB at minimum
• Resolution: 1024 x 768 Pixels (PC) or 1920 x 1200
Pixels (tablet)
• Screen display size (tablet): 10.1 inches or larger
• An account with administrator's privileges
Browser Google Chrome is recommended. X
Application risk assess- Assess use of Robot Control Mate when robot is in auto- X X
ment matic mode. See ISO 12100 and ISO 10218-2.
Always consider the FlexPendant as an alternative.
Emergency stop device Supplied by integrator, connected to the robot, and access- X X
ible. See ISO 13850 and appropriate controller manual listed
in References on page 7.
Activation button Installed as described in Activating login as local client on X X
page 30 and Enabling moving functions on page 31.
Safety configuration ii Validated before use, see Application manual - Functional X X
safety and SafeMove, ISO 10218-2 and ISO/TS 15066
(collaborative applications).
FlexPendant is recommended for configuration and syn-
chronization.
Safeguards Shall be in place as a result of the risk assessment. X X
i The latest version of Robot Control Mate does not compatible with RobotWare and RobotStudio
versions earlier than the specified ones. Always update RobotWare and RobotStudio to the required
versions to use the latest Robot Control Mate.
ii For collaborative applications, please refer to respective product manual for the safety related
functionality offered by ABB:
• Product manual - IRB 14050
• Product manual - CRB 1100

Continued
Limitation
The Robot Control Mate,
• Can only be used in Automatic Mode.
• Supports lead-through for the IRB 14050 and CRB 15000 only.

2 Safety
2 Safety
Safety information
Note
Make sure to read through all the safety instructions before starting work.
Note
The integrator must correctly design, install and validate all the safety devices
and functionality required to protect people working with the robot system. The
design must be based on a risk assessment of the application. Significant
potential hazards for robot systems are listed in ISO 10218-2. ISO 12100 provides
examples of the hazards associated with machines.
The integrator is responsible for the safety of the final application.
The OmniCore controller provides safety functions to ensure the safe operation
with robots. Robot Control Mate is allowed to work in automatic mode only with all
safety means in place.
Using an emergency stop button

An emergency stop button must be connected to the external emergency stop
input interface to make sure the emergency stop function is enabled. The emergency
stop switch must be positioned in easily accessible places so that the robot can
be stopped quickly.
For details about how to connect an external emergency stop button, see the
product manual of the controller.
Note
ABB provides only the emergency stop function. Users have to prepare the
emergency stop switch by their own.
Leaving enabling device connection open

The enabling device connection must be left open if there is no teach pendant
connected to the controller. Then, the robot can only work in automatic mode.
For details about how to configure the enabling device connection, see the product
manual of the controller.
Activating a safety guard device

Safeguards must be activated before working with the Robot Control Mate in
automatic mode. The protection chosen depends on both the application and the
robot.
For conventional applications, a safety fence is recommended to provide a physical
barrier between persons and the application. Should the fence be opened, an
automatic stop is triggered to safely stop the robot. Entering the working area

2 Safety
Continued
behind the fence is not allowed. For details of how to connect an automatic stop,
see the product manual of the corresponding controller.
For collaborative applications where fences are not considered desirable, ABB
offers a portfolio of functionality which can support the design of a safe application.
Please refer to respective product manual:
• Product manual - IRB 14050
The FlexPendant should be used to set up the safety configuration for the CRB
1100, CRB 1300 and CRB 15000 robots before using the Robot Control Mate.
Assistance is provided in the SafeMove Configurator app.
The FlexPendant is also recommended for the IRB 14050 with SafeMove, to
synchronize the joint positions so that it can run in automatic mode.
Using the FlexPendant to reduce risks

The FlexPendant is always the optimum solution to reduce risks in many
applications. Before using Robot Control Mate, working environment and
applications in use must be thoroughly assessed. The integrator must make sure
that the risks are reduced sufficiently to allow to use Robot Control Mate in
automatic mode. If any unacceptable risk remains, use FlexPendant in manual
mode as a mitigation.
Body protection
• Sensitive body parts, such as the eyes and the larynx, must be protected by
personal protective equipment (PPE).
• Operators working with the Robot Control Mate must be trained and have
the required knowledge.
Network security
This product is designed to be connected to and to communicate information and
data via a network interface. It is your sole responsibility to provide, and
continuously ensure, a secure connection between the product and to your network
or any other network (as the case may be).
You shall establish and maintain any appropriate measures (such as, but not limited
to, the installation of firewalls, application of authentication measures, encryption
of data, installation of anti-virus programs, etc) to protect the product, the network,
its system and the interface against any kind of security breaches, unauthorized
access, interference, intrusion, leakage and/or theft of data or information. ABB
Ltd and its entities are not liable for damage and/or loss related to such security
breaches, any unauthorized access, interference, intrusion, leakage and/or theft
of data or information.
Robot Control Mate functions work based on the connection to the OmniCore
controllers and communication via a network interface. Security aspects must
always be concerned. For more details about the OmniCore Cybersecurity, see
Operating manual - Integrator's guide OmniCore.
2 Safety
Continued
Starting work with safety awareness

Whenever starting work with Robot Control Mate, check whether Robot Control
Mate is connected to the correct robot.
• Check the controller status, either by reviewing the Controller Status group
for Robot Control Mate RS Add-In or by using the status bar for Robot Control
Mate Web.
• For CRB 15000, the LED lights on the arm-side interface (ASI) can be used
for a simple check. For details, see section "Testing the FlexPendant
Connection" in Product manual - CRB 15000.
Monitoring robot motion and conditions for logging out

During work with Robot Control Mate, make sure no obstacle blocking operators'
view of the robot. Operators should continuously observe and pay attention to
motion of the robot.
To minimize risks, the operator must log out the Robot Control Mate in any of
following circumstances:
• the emergency stop buttons for the applications under control are out of
reach.
• the robot is out of sight.
• interaction with the robot is no longer required.
• the browser opening the Robot Control Mate Web is to be closed.

3 Getting started
3 Getting started
General preparation
Before using the Robot Control Mate, make sure:
1 RobotStudio has been downloaded, installed and activated on the PC/tablet.
Download RobotStudio from http://new.abb.com/products/robotics/robotstu-
dio/downloads. For more information about how to install and run the
RobotStudio, see Operating manual - RobotStudio.
2 The PC/tablet is connected to the controller via the MGMT port (management
port) using a wired cable or WAN port, and that the controller is powered on.
For more information about the PC connection to the controller, see section
Connecting a PC to the controller in Operating manual - RobotStudio.
• if using the MGMT port for connection, make sure the PC/tablet opening
the Robot Control Mate Web has connected to the required controller
via the MGMT port using a wired cable and works in the same local
subnet of the controller.
• if using the WAN port for connection, make sure the network and firewall
settings have been properly configured for the controller, and the IP
address of the connected PC/tablet is in the same network segment
as the IP address set for the controller.
For detailed procedures of controller network and firewall configuration,
see section Ethernet networks on OmniCore in Operating
manual - Integrator's guide OmniCore.
Note
Virtual controllers are always considered as connecting to the WAN port.
Note
If the controller is in a RobotWare version earlier than the one specified in

Prerequisites on page 14, upgrade it to the required RobotWare version
first.

3 Getting started
3.1 Getting started with the Robot Control Mate RS Add-In in RobotStudio
Installing the Robot Control Mate RS Add-In

Use the following procedure to install the Robot Control Mate RS Add-In:
1 Start RobotStudio and open the Add-Ins tab. The Gallery window is displayed.
2 In the Gallery window, enter Robot Control Mate RS Add-In in the Search
text box.
The Robot Control Mate RS Add-In icon is displayed.
xx2100002548
3 Click the icon and then click Add on the right pane.
4 Click Accept in the displayed disclaimer window.
The package will be downloaded and installed automatically. The installed
package can be observed in the RobotStudio Add-Ins navigation tree in the
left pane of the window.
5 Close and reopen RobotStudio.
The Robot Control Mate icon is displayed in the Controller ribbon tab.
Starting the Robot Control Mate RS Add-In

Use this procedure to open the Robot Control Mate RS Add-In:
1 Open RobotStudio.
2 Connect to a controller and log in.
3 In the Controller tab page, click Robot Control Mate in the Robot Tools
group.
The Robot Control Mate ribbon tab is displayed.
Note
The Heartbeat function must be activated to use the Robot Control Mate.
If it is not, a message is displayed when the Robot Control Mate is logged
in, requesting to activate the function.
Click Yes in the request window to activate the heartbeat function and
restart the controller.

3 Getting started
Continued
Note
The Robot Control Mate must be closed by clicking Close in any of following
circumstances:
• the emergency stop buttons are out of reach.
4 In the Controller tab page, click Request write access to have the write
access granted.
5 Back to the Robot Control Mate tab page and start working with the Robot
Control Mate after connecting to a controller.
Note
If there is no controller connected, Unknown will be displayed in the

Controller Status group, and the control and move functions are unavailable
to use.
If it is a virtual controller connected, you have to open a new RobotStudio
program, add the virtual controller by clicking Add Controller from the
Controller tab and then log in using a user account with necessary grants
to activate the Robot Control Mate functions.
Uninstalling the Robot Control Mate RS Add-In

Use the following procedure to uninstall the Robot Control Mate RS Add-In.
1 Open RobotStudio and click the Add-Ins tab.
2 In the Add-Ins window on the left pane, right-click the Robot Control Mate
RS Add-In package under the Installed Packages navigation tree.
3 Choose Uninstall Package from the shortcut menu.
4 Click Yes to proceed.
The uninstallation procedure starts automatically.
5 Close and reopen RobotStudio.
The Robot Control Mate RS Add-In is removed from the navigation tree on
the left pane.

3 Getting started
Continued
Upgrading the Robot Control Mate RS Add-In

If a new version of the Robot Control Mate RS Add-In is available, uninstall the
earlier versions as instructed in Uninstalling the Robot Control Mate RS Add-In on
page 23 and then reinstall as instructed in Installing the Robot Control Mate RS
Add-In on page 22.
Note
If RobotStudio is in a version earlier than the one specified in Prerequisites on

page 14, upgrade RobotStudio to the required version first and then install the
Robot Control Mate RS Add-In in Gallery as instructed in Installing the Robot
Control Mate RS Add-In on page 22.

3 Getting started
3.2 Getting started with the Robot Control Mate Web
Installing the Robot Control Mate Web

Generally, Robot Control Mate Web is integrated in the controller system at delivery.
It is also available to be downloaded from RobotStudio Gallery and then installed
to the controller. If you need to newly add it to an existing controller system or
requires an update, follow the following procedure to install:
1 Start RobotStudio and open the Add-Ins tab. The Gallery window is displayed.
2 In the Gallery window, enter Robot Control Mate Web in the Search text
box.
The Robot Control Mate Web icon is displayed.
xx2100002549
3 Click the icon and then click Add on the right pane.
The package is automatically installed and listed in the RobotWare Add-Ins
navigation tree in the left pane of the window.
4 In the Controller tab page, choose Installation Manager 7 from the
Installation Manager list in the Configuration group.
5 In the Installation Manager window, connect to a real controller or
select/create a virtual controller.
6 Follow the instructions in the installation wizard and add the Robot Control
Mate Web (3065-1 Robot Control Mate) to the controller.
The Robot Control Mate Web is displayed in the controller overview if it is
successfully added to the controller.
For details about how to use Installation Manager, see Operating
manual - RobotStudio.
Logging in the Robot Control Mate Web

Use the following procedure to log in the Robot Control Mate Web:
1 Start the browser.
Google Chrome is recommended.
2 Enter the IP address of the connected controller in the address bar.
• If a virtual controller is connected, enter
https://127.0.0.1:80/docs/RCM.html.
• If a real controller is connected via MGMT port, enter
https://192.168.125.1/docs/RCM.html.
• If a real controller is connected via WAN port, enter https://IP address
of WAN port/docs/RCM.html.
3 In the displayed window, enter the user name and password.

3 Getting started
Continued
You can log in using any user account but make sure the account has the
access permission to the connected controller.
Note
Displayed language for Robot Control Mate Web is the same as the language of
controller system. Currently, only English and Chinese are available.
If the controller system is in a language other than English or Chinese, a dialog
box is popped up during the Robot Control Mate Web startup, for users to choose
the displayed language of Robot Control Mate.
It is also possible to change the displayed language by clicking the menu button
on the homepage and then choosing About > Language.
Note
The Robot Control Mate Web must be logged out from the controller system by
clicking Log out from the menu in any of following circumstances:
• the emergency stop buttons are out of reach.
• the browser opening the Robot Control Mate Web is to be closed.
Checking the system settings

Before entering the main working page, Robot Control Mate Web will automatically
check the system settings required for running the Robot Control Mate Web. Follow
the procedure below to get the system settings ready first:
1 In the Home page, check the robot model to make sure that the required one
is connected to.
2 Click Start.
3 Read carefully the prompted message and click Acknowledge to accept it.
You can also click Open quickstart guide to get the latest manual version
for more details.
4 Configure the system settings if any listed item is not configured as required.
• If the AllowMoveRobAuto or Heartbeat function is not activated, click
Configure and then click Active and Start in the displayed dialog box
to activate them.
You have to re-enter the page after restarting the controller and then
the latest state is displayed.
Note
You can also activate the AllowMoveRobAuto and Heartbeat function

in RobotStudio, see detailed procedures in Activating the
AllowMoveRobAuto function on page 29 and Activating the Heartbeat
function on page 29.

3 Getting started
Continued
• If not working as a local client, click Request to login as local client.
Note
Logging in as a local client is required only when the controller is

connected via the MGMT port.
You also need to prepare a physical activation button and configure
an associated signal for local client, see detailed procedures in
Activating login as local client on page 30.
• If the controller is in Manual mode, click Change and follow the

instructions to change the operation mode to Auto.
Note
If the controller is connected via the WAN port, the operation mode
can only be changed by reconnecting the controller via the MGMT
port, logging in as a local client, clicking Change and then following
the instructions to change the operation mode to Auto.
The working page displays after all the required system settings are correctly
configured.

4 Working with the Robot Control Mate
4.1.1 General configuration

4.1 Controller configuration for Robot Control Mate
4.1.1 General configuration
Connecting to a controller
1 Switch on the main power on the controller.
2 Open RobotStudio.
3 Add a controller by choosing One Click Connect from the Add Controller
category in the Controller ribbon tab.
Note
You can also choose Add Controller or Add Controller from Device List
and then select the desired controller from the list.
4 Log in the controller using the user name and password.

5 The controller is loaded and displayed in the navigation tree.
Activating the AllowMoveRobAuto function

1 On the Controller ribbon tab in RobotStudio, click Request Write Access.
2 In the Controller navigation tree, choose Configuration > Controller.
3 Click Operator Safety to display the settings.
4 Set AllowMoveRobAuto to True.
5 Restart the controller.
Activating the Heartbeat function

1 On the Controller ribbon tab in the RobotStudio, click Request Write Access.
2 In the Controller navigation tree, choose Configuration > Controller.
3 Click Operator Safety to display the settings.
4 Set HeartBeat to True.

4.1.2 Robot Control Mate on the MGMT port
4.1.2 Robot Control Mate on the MGMT port
Activating login as local client

If users are not logged in as local client when a real controller is connected via
MGMT port, the moving functions are unavailable to use and a warning message
will be displayed. Users have to login as local client to enable the functions.
Make sure a physical activation button is prepared and associated signal for local
client has been configured for the device.
Login as local client in the following two ways:
• With a powered-on FlexPendant but in logged-out state
1 Open theRobot Control Mate, either RS add-in version or Web version,
and then open the Move window.
2 Press the activation button twice.
3 Check whether functions are enabled in the Move window.
• Without a FlexPendant
1 In the Controller ribbon tab in the RobotStudio, click Configuration
and then click I/O system.
2 In the Type pane of the Configuration - I/O system window, right-click
Signal and choose New Signal.
3 Create a physical DI signal.
4 Double-click Controller in the Configuration navigation tree on the left
pane.
5 In the Type pane of the Configuration - Controller window, right-click
System Input and choose New System Input.
6 Choose the created physical DI signal from the Signal Name drop-down
list.
7 Choose Verify Local Presence from the Action drop-down list.
Note
The physical activation button associated with Verify Local Presence

must be obviously labelled, so that its function is clear. It must be
situated within reach of an emergency stop button.
8 Save the change and restart the controller.

9 Activate login as local client.
- For Robot Control Mate RS Add-In, open the Move window and
change the DI signal value twice using the physical activation
button for whom the signal created.
- For Robot Control Mate Web, open the Home page and observe
the Get local client item is checked as available; otherwise, click
Request to activate.

4.1.3 Robot Control Mate on the WAN port
Enabling control functions

Current user must be granted with the Remote Start and Stop right to enable the
control functions. Otherwise, control functions are unavailable to use.
Perform the following procedure to edit user grants:
1 On the Controller ribbon tab in RobotStudio, click Authenticate and then
click Edit User Accounts.
2 In the Edit User Accounts window, click the Roles tab.
3 On the Roles tab, select the role to which the user belongs and then click
Edit User.
4 Select the Remote Start and Stop in Auto checkbox.
5 Click Apply.
More details about how to manage user rights in the UAS system, see Operating
Enabling moving functions

Users have to connect an activation button and configure a token signal for it to
enable the moving functions. The moving functions are only available after the
token is verified.
Use the following procedure to configure the token and enable moving functions:
1 Prepare a physical activation button and connect it to the controller.
2 Open the RobotStudio.
3 In the Controller ribbon tab, click Configuration and then click I/O system.
4 In the Type pane of the Configuration - I/O system window, right-click Signal
and choose New Signal.
5 Create a physical DI signal for the connected activation button.
6 Double-click Controller in the Configuration navigation tree on the left pane.
7 In the Type pane of the Configuration - Controller window, right-click System
Input and choose New System Input.
8 Choose the created physical DI signal from the Signal Name drop-down list.
9 Choose Verify Move Robot in Auto from the Action drop-down list.
10 Save the change and restart the controller.
11 Enable the moving functions.
• For Robot Control Mate RS Add-In, open the Move window and click
Get Move In Auto Token.
• For Robot Control Mate Web open the Move working page and click
Enable Move.
12 Press the activation button within 30s.
• If the token is verified and requested successfully, proceed to next
step.
• If the token fails to be verified and requested, an error message will
display.
Continued
13 Click OK in the displayed message box.

The moving functions are available to use.
Note
The physical activation button associated with Verify Move Robot in Auto must
be obviously labelled, so that its function is clear. It must be situated within reach
of an emergency stop button.
The default timeout to disable moving functions is 30s. If no moving action is
implemented within 30s, the moving functions will be disabled.
It is possible to modify the duration for timeout in the following two ways:
• In the message box displayed after pressing the activation button, click
Change the duration, and in the displayed window, click Move in Auto
Timeout to change the duration.
• Click the Menu button and then click About. In the displayed window, click
Move in Auto Timeout to change the duration.
If the duration is set to a value larger than 40s, a message pops up, reminding
users that the moving functions will be disabled within 30s; if the duration is set
to a value equal to or smaller than 40s, the message will reminder that the functions
will be disabled within 5s.
If the functions are disabled, users have to click Get Move In Auto Token or Enable
Move to enable them again.
Note
For Robot Control Mate Web, the Go to position function for the position data
also requires the token to enable.

4.2.1 User interface of Robot Control Mate RS Add-In
4.2 Working with the Robot Control Mate RS Add-In in RobotStudio
4.2.1 User interface of Robot Control Mate RS Add-In
Overview
xx1900001318
Group Description
Controller Tools Provides controlling and moving functions, such as motor status
switching, program execution and robot movement.
Calibrate Provides calibration functions to update revolution counters
and to transfer robot memory between robot and controller.
Controller Status Displays the basic information of the controller and robot.
Help Displays the help documentation.
Close Closes the Robot Control Mate tab.

4.2.2 Procedure
4.2.2 Procedure
Introduction
This section describes the procedures to operate a robot system using the Robot
Control Mate RS Add-In together with RobotStudio features.
Safety information
• Check the controller status by reviewing the Controller Status group for
Robot Control Mate RS Add-In.
Performing the program executions

1 Check the calibration status of the robot in the Controller Status group in
the Robot Control Mate tab page.
If the robot is uncalibrated, calibrate the robot as instructed in Calibrating
the robot on page 36.
access granted.
3 In the Robot Control Mate tab page, click Control in the Controller Tools
group.
The Control window is displayed.
4 Turn the motors on.
5 Select a task from the Selected Tasks drop-down list.
If there are multiple tasks, the program executes for the selected task.
6 Set the speed of program execution by dragging the scroll bar.
The speed of 100% indicates that the program is running at full speed.
7 Perform program executions.
• Play: starts the program execution.
• Stop: pauses a program execution.
• Prev: executes one instruction backward.
• Next: executes one instruction forward.
Note
Click PP to Main to set the program pointer to the first line of the main
routine.
It is also possible to set the program pointer to routine by selecting a
module and routine from the Module and Routine drop-down list first, and
then click PP to Routine.

4.2.2 Procedure
Continued
Moving the robot

access granted.
2 In the Robot Control Mate tab page, click Control in the Controller Tools
group.
Note
For IRB 14050, setting LeadThrough to Enable in the Move window will
automatically turn the motors on, and the Operation Mode displays Auto
(LeadThrough).
For more details about the lead-through function, see Operating
manual - OmniCore.
4 Click Move in the Controller Tools group.

The Move window is displayed.
Note
If the controller is connected via WAN port, moving functions are available
to use only after the token is verified. For details, see Enabling moving
functions on page 31.
5 Select the moving mode.

• Joint: this mode moves the robot axis by axis. It moves one robot axis
at a time.
• Linear: this mode enables the tool center point of the selected tool to
move along straight lines from "point A to point B" in space or to move
in rotational motion based on the selected coordinate system's axis.
• Arm: this mode is only available for IRB 14050. In this mode, both the
tool center point and the orientation of the tool is fixed in space and
only the angle of the arm is changed. The tool center point is neither
rotated nor moved.
6 Select the coordinate system.
If Tool or Wobj is selected, a work object or tool must be selected from the
Work Object or Tool drop-down list respectively, to specify the reference
based on which the robot axis moves.
7 Select the increment mode.
• None: the robot moves continuously to the specified point.
• Small/Medium/Large: the robot will move a rated step each time based
on the selected incremental movement size.
• Customized: users can define increment step by clicking Customized
Increment.
8 Set the moving speed by dragging the scroll bar.
4.2.2 Procedure
Continued
9 (Optional) Select load data from the Load drop-down list.

If equipment is mounted on any of the robot axes, then axes loads must be
set. Otherwise overload errors might occur during moving.
10 Click the + or - button in the Position area to move the robot axes to the
desired position.
Note
The robot can also be moved using target settings. Select a target from the Target
drop-down list. Detailed position information of the selected target point is
displayed. Then, press and hold Go to to move the robot until it reaches the
target position or click Modify Position to apply the robot position to the RAPID
program.
Calibrating the robot
WARNING
Before starting the revolution counter update procedure, make sure all robot
axes are moved to the synchronization position and all the notches of
synchronization marks are aligned.
If a revolution counter is incorrectly updated, it will cause incorrect manipulator
positioning, which in turn may cause damage or injury! Always verify the results
after calibrating any robot axis to verify that all calibration positions are correct.
Detailed information about calibration, revolution counter update, and so on can
be found in the robot product manual.
Note
Calibration procedure is slightly different for CRB 15000. See Product

manual - CRB 15000.
access granted.
2 Check the calibration state in the Controller Status group in the Robot
Control Mate tab page.
3 If the state is Uncalibrated, check whether controller or robot has been
replaced or the SMB board has been replaced.
• If yes, proceed to step 4.
• If no, proceed to step 8.
4 In the Robot Control Mate ribbon tab, click Robot Memory in the Calibrate
group.

4.2.2 Procedure
Continued
In the displayed Update Memory dialog box, choose Update controller with
robot memory data or Update robot memory with controller data according
to the actual situation.
CAUTION
Do not mix the memory data transfer direction.

For more details about memory data transfer, see Operating
5 A dialog box is displayed, warning that the transfer operation cannot be
undone. Click OK to proceed or click Cancel to cancel.
6 After the data is successfully transferred, a message is displayed, warning
that the controller requires to be restarted. Click OK to close the message.
8 In the Robot Control Mate ribbon tab, click Revolution Counter in the
Calibrate group.
In the displayed Update Revolution Counter dialog box, check the calibration
status of the axes and, in the Selection column, select the axes for which
revolution counters need to be updated.
For more details about robot revolution counter update, see the robot product
manual.
9 A dialog box is displayed, warning that the updating operation cannot be
undone. Click OK to proceed or click Cancel to cancel.
10 After the revolution counters of the selected axes are successfully updated,
a message is displayed, warning that the controller requires to be restarted.
Click OK to close the message.
12 After the calibration is done, move the robot and check whether the robot is
well calibrated.
For details about robot moving, see Moving the robot on page 35. If the robot
is not correctly calibrated, calibrate again in the Update Revolution Counter
dialog box.
Working with the robot system

1 Create a testing RAPID program or load an existing RAPID program in the
RAPID editor.
For more information about how to work with RAPID editor, see Operating
2 Move the robot to a desired position in the Move window.
For details about robot moving, see Moving the robot on page 35.
3 Select a desired target point from the Targets drop-down list and click Modify
Position.
4 In the Robot Control Mate ribbon tab, click Control in the Controller Tools
group.

4.2.2 Procedure
Continued

5 Run the RAPID program.
For details about how to execute the program, see Performing the program
executions on page 34.
CAUTION
If the speed is higher than 10% of the fully speed, a warning message
displays, prompting to confirm the running speed. Click Yes to remain the
speed setting or click No to change the speed to 10% of the fully speed.
Make sure all risks are cleared before clicking Yes and run the program at
a high speed. If any risky situation occurs, click Pause in the Control tab
to stop the program or press the external emergency stop switch.

4.3.1 User interface of Robot Control Mate Web
4.3 Working with the Robot Control Mate Web
Overview
Taking the CONTROL working page as an example, the following figure shows the
main working page in the Robot Control Mate Web.
xx2100002586

Continued
Item Description
A Menu Displays the menu when clicking the hamburger button.
Information of the current user is also displayed in the menu page. You could log out the
current user by clicking Log out.
Controller Accessing the controlling and moving functions.
Tools
Calibration Displaying the calibration status of the connected mechanical units, and
providing interfaces for accessing calibration functions.
Backup & Re- Saving all system parameters, system modules, and program modules in
store a context to local as a .tar file or restoring the system from a backup file.
Restart Restarting the controller or resetting the system to the factory settings.
Safety Control- Accessing the window displaying safety controller configurations. Only
ler available when the robot is selected with the SafeMove option.
About Displaying information about the Robot Control Mate Web version, open-
source licenses and manuals, and also providing interfaces for following
common settings.
• Move in Auto Timeout: click to reset the timeout duration to disable
moving functions.
• Language: click to change the displayed language for Robot Control
Mate Web. Currently only English and Chinese are available.
• Save diagnostics: click to download the system diagnostics.
• Export RCM logs: click to export the communication logs between
Robot Control Mate Web and controller.
• Contact us: click to access the ways to contact ABB.
ASI Available only for CRB 15000 with ASI application installed in the system.
In the opened window, users can configure the buttons and light indicator
on the arm-side interface. For more details about ASI settings, see Product
manual - CRB 15000.
Connected Displaying the Connected Service status of the connected controller.
Service Status Only available when the controller is installed with a Connected Service
Gateway module and the module is configured. For more details about the
Connected Service functionality, see the Product manual for the respective
OmniCore controller and Operating manual - Integrator's guide OmniCore.
B Status bar Shows the controller status.
You can also request or release write access by clicking the status bar and then clicking
the Request or Release button in the displayed message page.
C Event log Displays the event logs, which are messages about system status, events or errors.
In the displayed event logs window, you can:
• view the current event logs.
• study specific event log in details.
• change log status from unread to read by clicking Acknowledge.
• clear all the log entries by choosing Clear All from the More options button on the
upper right corner.
• save all the log entries by choosing Save log from the More options button on the
upper right corner.
D Working area Displays the detailed setting pages. You have to request write access first to start working.
For the controlling and moving functions, the programs and messages are also displayed
in real time in the working area. The programs can only be viewed but not edited. It is pos-
sible to clear the messages by clicking Clear messages.
Data and I/O information can be viewed and edited in corresponding tab page after clicking
the Data & IO button at the bottom of the working area. For details, see Working with data
and I/O on page 48.

4.3.2 Procedure
4.3.2 Procedure
Introduction
This section describes the procedures to operate a robot system using the Robot
Control Mate Web.
Note
Always click Request write access to have the write access granted for
proceeding the operations in the Robot Control Mate Web.
If the write access is held by another user, it must be released by the user first
and then requested by the current user.
Safety information
• Check the controller status from the status bar for Robot Control Mate Web.
Performing the program executions

1 Click the Menu button and then click Calibration to check the calibration
status of the robot.
If the robot is uncalibrated, calibrate the robot as instructed in Calibrating
the robot on page 45.
2 Click the Menu button and then click Controller Tools.
The CONTROL working page is displayed.
Note
The CONTROL working page is also the first page displayed when you
enter the Robot Control Mate Web.

4 Set the speed of program execution by dragging the scroll bar.
The speed of 100% indicates that the program is running at full speed.
5 Perform program executions.
• Play: starts the program execution.
- If the program has been modified before executing, a message
is displayed, promoting you to check the program in the reduced
speed (max. 250 mm/s) step by step by using Prev and Next.
You can click Continue to execute the modified program, or click
Cancel to discard the execution .
- If the program has been modified before executing and the speed
is set to a value higher than 10%, another message is further
4.3.2 Procedure
Continued
displayed, promoting you to confirm the speed at which the

program executed. You can click Play in 10% speed to run the
program at a lower speed, or click Continue to keep the current
speed.
• Stop: pauses a program execution.
• Prev: executes one instruction backward.
• Next: executes one instruction forward.
Note
Click PP to main to set the program pointer to the first line of the main
routine.
It is also possible to set the program pointer to routine by selecting a routine
from the PP to drop-down list.
You can also set the program pointer to the cursor location by clicking the
required instruction line in the program window first and then clicking PP
to cursor at the bottom of the working area.
Note
If the controller is connected via WAN port, the play and stop buttons are
available to use only when the user is granted with Remote Start and Stop
in Auto. For details, see Enabling control functions on page 31.
Moving the robot

1 Turn the motors on in the CONTROL working page.
Note
For IRB 14050, turn on the Lead-through switch in the MOVE working page
will automatically turn the motors on, and the status bar is highlighted.
For more details about the lead-through function, see Operating
manual - OmniCore.
2 Click the MOVE tab.

The MOVE working page is displayed.
Note

4.3.2 Procedure
Continued
3 Select required mechanical unit, work object, tool and load from the
corresponding drop-down list.
Note
If there is equipment mounted on any of the robot axes, the axis load data
must be set. Otherwise overload errors might occur during moving.
4 Set the moving speed by dragging the scroll bar.

5 Select the moving mode by clicking the corresponding icon.
• Axis: this mode moves the robot axis by axis. It moves one robot axis
at a time.
• Linear & Reorient: this mode enables the tool center point of the
selected tool to move along straight lines from "point A to point B" in
space or to move in rotational motion based on the selected coordinate
system's axis.
- If this moving mode is selected, the coordinate system drop-down
list is displayed.
- If Tool or Wobj is selected in the coordinate system drop-down
list, a work object or tool must be selected from the work object
or tool drop-down list respectively, to specify the reference based
on which the robot axis moves.
• Arm: this mode is only available for IRB 14050. In this mode, both the
tool center point and the orientation of the tool is fixed in space and
only the angle of the arm is changed. The tool center point is neither
rotated nor moved.
6 Select the increment mode.
• No increment: the robot moves continuously to the specified point.
• Small/Medium/Large: the robot will move a rated step each time based
on the selected incremental movement size.
• User: users can define increment step by clicking the Setting icon on
the left upper corner. In the displayed User Increment dialog box, set
required values and click Apply.
7 Click the + or - button in the right pane to move the robot axes to a desired
position.
8 If required, align the tool to another coordinate system by clicking Align.
In the displayed page, select the required coordinate system in the Align to
coordinate system area. Click and hold the Align button until the tool is
aligned.
For more details about the tool align, see Operating manual - OmniCore.

4.3.2 Procedure
Continued
Note
The robot can also be moved to a programmed position listed in the Position
tab after clicking the Data & IO button at the bottom of the working area. Select
a programmed robtarget position and click Go to position to move the robot
from the current position to the selected position.
Setting execution functions

1 Click the EXECUTION tab.
The EXECUTION working page is displayed.
2 Selects the program run mode.
• Single: runs one cycle and then stops the execution.
• Continuous: runs continuously
3 Select the program step mode.
• Step Over: the called routines are executed in one single step.
• Step Into: steps into the called routines and executes them
step-by-step.
• Step Out: executes the remaining part of the current routine and then
stops at the next instruction in the routine from which the current routine
was called. Not possible to use in the Main routine.
• Step Move: steps to the next move instruction. Stops before and after
movement instructions, for example, to modify positions.
4 Turn on Non Motion Execution to run the RAPID program without the robot
motion.
5 In the Enable/Disable Tasks panel, select a task and click to enable or disable
it.
Note
Only when the Multitasking option is supported and more than one tasks
are created, the tasks are listed. Otherwise, only the T_ROB1 task is listed.
6 Turn on the Allow configuration of semistatic/static tasks switch for

configuring semistatic and static tasks.

4.3.2 Procedure
Continued
Calibrating the robot
WARNING
Before starting the revolution counter update procedure, make sure all robot
axes are moved to the synchronization position and all the notches of
synchronization marks are aligned.
If a revolution counter is incorrectly updated, it will cause incorrect manipulator
positioning, which in turn may cause damage or injury! Always verify the results
after calibrating any robot axis to verify that all calibration positions are correct.
Detailed information about calibration, revolution counter update, and so on can
be found in the robot product manual.
Note
Calibration procedure is slightly different for CRB 15000. See Product

manual - CRB 15000.
1 Click the Menu button and then click Calibration.
The calibration window is displayed.
2 Click the required robot from the MECHANICAL UNITS list.
The calibration summary is displayed in the right pane.
3 If the robot is uncalibrated, check whether controller or robot has been
replaced or the SMB board has been replaced.
• If yes, proceed to step 4.
• If no, proceed to step 8.
4 Click Robot Memory at the bottom of the working area.
In the displayed ROBOT MEMORY page, choose Update controller with
robot memory data or Update robot memory with controller data according
to the actual situation.
CAUTION
Do not mix the memory data transfer direction.

For more details about memory data transfer, see Operating
5 Click Apply.
A dialog box is displayed, warning that the transfer operation cannot be
undone. Click Update to proceed or click Cancel to cancel.
6 After the data is successfully transferred, a message is displayed, warning
that the controller requires to be restarted. Click OK to close the message.
8 Click Revolution Counter at the bottom of the working area.
A dialog box is displayed, warning that the updating operation may change
the programmed position. Click Yes to proceed or click No to cancel.

4.3.2 Procedure
Continued
9 In the displayed Update Revolution Counters dialog box, check the

calibration status of the axes and select the axes for which revolution counters
need to be updated.
For more details about robot revolution counter update, see the robot product
manual.
10 Click Update selected axes.
A dialog box is displayed, warning that the updating operation cannot be
undone. Click Update to proceed or click Cancel to cancel.
11 After the calibration is done, move the robot and check whether the robot is
well calibrated.
For details about robot moving, see Moving the robot on page 42. If the robot
is not correctly calibrated, calibrate again in the Update Revolution Counter
dialog box.
Viewing safety controller configurations

Safety controller is a safety board used with the robot controller, handling SafeMove
functionality. If the robot is selected with the SafeMove option, the Safety Controller
tab is displayed in the menu for you to access basic setup functions of the safety
controller. More information about safety controller, see Application
manual - Functional safety and SafeMove.
Note
Function of viewing the safety controller configurations is available only for

RobotWare in version 7.10 or later.
Note
To work with the functions in Configuration tab and Cyclic Brake Check tab,
make sure the controller is connected via the MGMT port and the writing access
is requested.
The Configuration tab

The Configuration tab shows the status of the safety configuration file. From the
configuration tab it is possible to view the safety configuration, validate, and lock
the configuration file.
Safety Config Status Description
Not Validated/Validated Validate the safety configuration and then click the checkbox
to confirm the validation. Then, the status of the configuration
is changed to Validated.
Not Locked/Locked Click the checkbox to approve the safety configuration, the
status of the configuration is changed to Locked.

4.3.2 Procedure
Continued
The Mode tab

The operating mode of the safety controller is displayed in the status bar.
Mode Description
Safety Supervision Mode The safety supervision mode is the default mode where the
safety supervision is active.
Commissioning Mode Commissioning mode is intended to be used before the
safety PLC is connected and functional.
In commissioning mode, the selected signals are set high
for not triggering stops.
Commissioning mode is allowed in automatic operating
mode, but the power to the actuators is disabled and the
robot is prohibited from movement.
DANGER
Using the function commissioning mode compromises the

safety.
Service Mode Service mode is intended to be used during service and

commissioning. In service mode all safety supervision is
deactivated, so it is possible to jog and run the robot without
limitations. The violation output signals are set high, indicat-
ing no violation. The communication to the safety PLC is
active so the configured safety stops are active.
Service mode is only allowed in manual mode. If the operat-
ing modes manual full speed or automatic mode is selected,
then service mode is deactivated and safety supervision
mode is activated by the safety controller.
The Synchronization tab

The safety controller synchronization status is indicated by the status LED in
Synchronization tab.
The Status LED has the following indication:
• Green - Synchronized
• Red - Unsynchronized
• Grey - Undefined, no information is present.
The Stop Status tab

The Stop Status tab is only present when a Stop configuration is configured in the
safety configuration. Up to 8 stop configurations are shown with a green or red
LED indicating the status.
The Cyclic Brake Check tab

Cyclic Brake Check is a function that verifies that the brakes work correctly. The
Cyclic Brake Check tab is only present for CRB 1100, CRB 1300 and CRB 15000
robots that already have SafeMove configured.
From the Cyclic Brake Check tab it is possible to view the check interval and check
status, and also initiate a new round of cyclic brake check.

4.3.2 Procedure
Continued
Working with data and I/O

Position data
From the program window, it is possible to work with the position data, both
robtargets and jointtargets, by clicking the required one in the window first and
then clicking corresponding button at the bottom of the working area. You can:
• move the robot to a specified target position by clicking Go to position. This
is only valid to robtargets.
Note
• update the current robot position by clicking Update position.

• manually edit the robot position by clicking Edit position.
You can also click the Data & IO button at the bottom of the working area and
access the position data in the POSITION tab page. In this tab page, click the More
options button to work with the data.
If multiple tasks exist, Go to position and Update position are available only to
position data in Motion tasks.
Tool data
Click the Data & IO button at the bottom of the working area and access the tool
data in the TOOLDATA tab page.
In the TOOLDATA tab page, click the More options button to:
• manually edit the tool data by clicking Edit.
• define the tool position and orientation by clicking Define.
- in the DEFINE POSITION tab page, move the joints to four approach
points and define the positions by clicking Modify Position.
Note
You can also load existing calibrated positions by click the Load icon
in DEFINE POSITION tab page. In the displayed page, choose the
required module and then click Load.
When loading, if there are targets naming as pTCP_Point1,
pTCP_Point2, pTCP_Point3 and pTCP_Point4, these targets will be
loaded; otherwise, a dialog box is displayed, asking whether to load
the first four targets in the module. If the module contains less than
the required four targets, then all the targets will be loaded. In this
case, you need to define the remaining positions.

4.3.2 Procedure
Continued
- in the DEFINE ORIENTATION tab page, select a method for setting

the orientation.
Note
If the method TCP & Z or TCP & Z,X is selected, you can also load
existing calibration orientations by click the Load icon in DEFINE
ORIENTATION tab page. In the displayed page, choose the required
module and then click Load.
When loading, if there are targets naming as pRef, pElongatorZ and
pElongatorX, these targets will be loaded; otherwise, a dialog box is
displayed, asking whether to load the first two or three targets in the
module, depending on the selected method. If the module contains
less than the required two or three targets, then all the targets will
be loaded. In this case, you need to define the remaining orientations.
- in the RESULT tab page, check the results and click Apply.
If the Save calibration positions checkbox is selected, the results will
also be saved in a new program module that is named as Calib_toolX
by default.
• perform load identification by clicking Load Identify.
In the displayed window, click OK to run the load identification service routine.
The tool load will be automatically identified.
Before running the load identification, turn the motor on and make sure the
tool is in horizontal position.
If multiple tasks exist, Define and Load Identify are available only to tool data in
Motion tasks.
Workobject data
Click the Data & IO button at the bottom of the working area and access the object
data in the WOBJDATA tab page.
In the WOBJDATA tab page, click the More options button to:
• manually edit the tool data by clicking Edit.

4.3.2 Procedure
Continued
• define the work object coordinate system by clicking Define.

- in the DEFINE FRAME tab page, select the frame to be defined first,
and then move the joints to three approach points and modify the
positions.
Note
You can also load existing calibrated positions by click the Load icon
in DEFINE FRAME tab page. In the displayed page, choose the
required module and then click Load.
For User frame, if there are targets naming as pWobj_U_PointX1,
pWobj_U_PointX2 and pWobj_U_PointY1, these targets will be loaded.
For Object frame, if there are targets naming as pWobj_O_PointX1,
pWobj_O_PointX2 and pWobj_O_PointY1, these targets will be
loaded. Otherwise, a dialog box is displayed, asking whether to load
the first three targets in the module. If the module contains less than
the required three targets, then all the targets will be loaded. In this
case, you need to define the remaining positions.
- in the RESULT tab page, check the results and click Apply.
If the Save calibration positions checkbox is selected, the results will
also be saved in a new program module that is named as
Calib_Def_wobjX by default.
If multiple tasks exist, Define is available only to object data in Motion tasks.
Variables
Click the Data & IO button at the bottom of the working area, and access the number
and string variables in the 123 NUMBER and ABC STRING tab pages, respectively.
In the corresponding tab page, click the More options button and choose Edit to
manually edit the value of the selected variable.
IO
Click the Data & IO button at the bottom of the working area and access the IO list
in the IO tab page. The IO signals can be viewed in one page, or you can switch
the view mode by clicking IO Devices to view the IO signals in groups by devices
they are assigned to.
If the Device Trust Level is set to Allow Deactivate, the IO devices could be
deactivated or activated by click the More options button and then select Deactivate
or Activate.
To change the IO signal, the Access Level of the IO must be All. Otherwise, a
failure message is displayed.
Editing the RAPID program

Adding a Move instruction
From the program window, it is possible to add a Move instruction to the RAPID
program:
1 Click a RAPID instruction line after which the Move instruction will be added.

4.3.2 Procedure
Continued
2 Click Add Move instruction at the bottom of the working area.

3 In the displayed dialog box:
a Choose a movement type from the Instruction type drop-down list.
Movement types MoveJ, MoveL and MoveAbsJ are available to choose.
b Keep the current robot position or choose an exiting position from the
Position drop-down list.
If keeping the current robot position,
• for MoveJ and MoveL instructions: a position data in data type
robtarget is generated with default name RCM_PosX. The
name can be modified.
• for MoveAbsJ instructions: a position data in data type
jointtarget is generated with default name RCM_jPosX. The
The module to which the position data belongs is displayed as the
scope information.
c Set the movement speed, zone data and tool from the Speed, Zone
and Tool drop-down list, respectively.
4 Click Apply.
• If there is no PP in the program, the movement instruction is added
and also saved to the current program module.
• If there is PP in the program, a warning message is displaying,
indicating that PP will lost after apply. Click Apply to continue and save
the movement instruction to the current program module. You can also
click Cancel to discard all settings.
Editing a Move instruction

From the program window, it is possible to modify a Move instruction in the RAPID
program:
1 Click the required Move instruction.
2 Click Edit at the bottom of the working area.
3 In the displayed dialog box:
a Modify the movement type by choosing the required one from the
Instruction type drop-down list.
Movement type MoveAbsJ cannot be changed.
b Modify the position by clicking the + icon to add the current robot
position or choosing an exiting position from the Position drop-down
list.
If keeping the current robot position,
• for MoveJ and MoveL instructions: a position data in data type
robtarget is generated with default name RCM_PosX. The
• for MoveAbsJ instructions: a position data in data type
jointtarget is generated with default name RCM_jPosX. The

4.3.2 Procedure
Continued
The module to which the position data belongs is displayed as the

scope information.
c Modify the movement speed, zone data and tool from the Speed, Zone
and Tool drop-down list, respectively.
4 Click Apply.
• If there is no PP in the program, the movement instruction is modified
and also saved to the current program module.
indicating that PP will lost after apply. Click Apply to continue and save
the modified movement instruction to the current program module. You
can also click Cancel to discard all settings.
Deleting an instruction
From the program window, it is possible to delete an instruction from the RAPID
program:
1 Click the required instruction.
2 Click the More options icon at the bottom of the working area and then
choose Delete.
• If there is no PP in the program, a warning message is displaying,
indicating that the deletion cannot be undone.
indicating that the deletion cannot be undone and PP will lost after
apply.
3 Click Apply to continue.
The instruction is deleted.
You can also click Cancel to discard all settings.
Modifying the value of a variable or an IO

From the program window, it is possible to modify the current value of a number
variable, a string variable or an IO:
1 Click the required variable or IO in the program.
2 Click Edit variable or Change IO value at the bottom of the working area.
3 In the displayed dialog box, enter the value in the text box.
4 Click Save.
The current value of the selected variable or IO is changed. Note that this
change does not affect the RAPID program.

5 Reference information
5.1 Features in RobotStudio
Feature list
The following table provides the features in RobotStudio that will be used together
with the Robot Control Mate when operating a robot system.
For more details about how to use the RobotStudio features, refer to the popup
message displayed in RobotStudio or see Operating manual - RobotStudio.
Feature group Feature Action
Operation Run from the current cursor 1 Make sure the RAPID program is opened
by double-clicking the specific RAPID
module from the Controller navigation tree.
2 In the RAPID ribbon tab, click Request
Write Access in the Access group.
3 Right-click the line where the cursor is and
choose Set Program Point to Cursor from
the shortcut list.
xx1900001401
4 Click Play in the Control tab and then the

program will run from the line where the
cursor is.
Note
The find a desired line or program module, type

the required line number or choose the module
from the list in the Find group in the RAPID ribbon
tab
xx1900001367

Continued

Programming Online programming 1 Make sure the RAPID program is opened
by double-clicking the specific RAPID
module from the Controller navigation tree.
2 In the RAPID ribbon tab, click Request
Write Access in the Access group.
Then, the RAPID script can be edited and
programmed.
xx1900001369
RAPID data editing Right-click a specific RAPID module from the

Controller navigation tree and then choose RAPID
Data Editor.
xx1900001368
Specific point data editing In the RAPID Data Editor window, edit the detailed
data of a specific point.
xx1900001402

Continued

Controller management System restart In the Controller ribbon tab, click Restart in the
Controller Tools group.
xx1900001329
System backup and restore In the Controller ribbon tab, choose Create
Backup or Restore Backup from the Backup list
in the Controller Tools group.
xx1900001370
System installation In the Controller ribbon tab, choose Installation

Manager 7 from the Installation Manager list in
the Configuration group.
xx1900001372

Continued

User right management User grant viewing In the Controller ribbon tab, choose View User
Grants from the Authenticate list in the Access
group.
xx2100000399
User grant editing In the Controller ribbon tab, choose Edit User
Accounts from the Authenticate list in the Access
group.
xx2100000400

Continued

System status and configura- I/O status checking In the Controller ribbon tab, choose I/O System
tion from the Configuration list in the Configuration
group.
xx1900001327
System information checking In the Controller ribbon tab, choose Controller

Properties from the Properties list in the Config-
uration group.
xx1900001326
System configuration In the Controller ribbon tab, choose the required

item from the Configuration list in the Configura-
tion group.

Continued
xx1900001371
Log Log viewing View the logs by either of the following methods:
• In the Controller ribbon tab, click Events.
xx1900001373
• Check the logs from the Output area at the

bottom of the RobotStudio window.
xx1900001374

5.2 Scenarios for controllers with FlexPendant
Overview
The Robot Control Mate is mainly used for the controller without a FlexPendant.
The FlexPendant can be disconnected from the controller in automatic mode. To
disconnect the FlexPendant in automatic mode the user must have the Safety
Services grant. The administrator must provide this grant using the UAS
Administration Tool in RobotStudio.
Note
In cases where the controller is replaced with a new main computer, a

FlexPendant is required after the replacement to be able to change to automatic
mode. Otherwise, the controller starts in manual mode and the Robot Control
Mate is unable to use.
This section describes how to properly disconnect the FlexPendant from a
controller.
Disconnecting the FlexPendant
Note
The disconnection operation can only be executed on the FlexPendant. Do not

use the Robot Control Mate to disconnect the FlexPendant.
1 On the status bar, tap the QuickSet button.
The QuickSet window is displayed.
2 Tap the Info tab.
The System Info window is displayed.
3 Check the robot type and options.
Make sure the robot type is supported and the option 3018-1 Hot Swappable
FlexPendant exists.
Note
If the controller does not have the option 3018-1 Hot Swappable
FlexPendant, contact ABB to install the RobotWare version with the option.
4 Tap the Control tab.

The Control Panel window is displayed.
5 In the Mode section, check the operating mode and make sure the system
is in Auto mode.
6 Tap the Logout/Restart tab.
The Logout/Restart window is displayed.
7 Tap Detach FlexPendant in the FlexPendant section.

Continued
A message is displayed, prompting to disconnect the FlexPendant within 30

seconds.
Note
The logged-in user must be the one has sufficient grant to disconnect the
FlexPendant. If not, you will get a permission denied message. In this case,
click Log out in the Current User section. Then, log in again using the user
with the Safety Service permission is granted.
8 Tap Disconnect.
A popup window with 30 seconds countdown timer is displayed.
9 Disconnect the FlexPendant within 30 seconds.

6 Troubleshooting
6.1 What should I do if I experience a certificate failure when opening Robot Control Mate Web?
6 Troubleshooting
6.1 What should I do if I experience a certificate failure when opening Robot Control
Mate Web?
Symptom
When working with Robot Control Mate Web, a page showing warning message
"Your connection is not private" is displayed after entering the IP address of the
connected controller in the address bar of the browser.
Cause
Certificates are used to provide secure communication over the network, and the
robot controller is delivered with a self-signed certificate installed. Self-signed
certificate is one certificate not signed by a CA at all, neither private nor public. In
this case, the certificate is signed with its own private key, instead of requesting
it from a public or a private CA.
Self-signed certificates can also create several risks without proper visibility and
control. Then the error is displayed on the browser.
Solution
To ensure a trusted connection, it is recommended to replace the certificates of
the controller with the certificates that are trusted by the PCs, which will be
connected to the controller. RobotStudio supports only PEM (.pem) certificate.
Refer Operating manual - Integrator's guide OmniCore for more information on
certificate handling.
Workaround
You can use the following procedure to add the self-signed certificate to the
browser’s secure certificate list and avoid the warning page.
WARNING
Using self-signed certificate in a production environment leaves the systems

exposed to vulnerabilities and security breaches. The users data shared through
the controller can be easily intercepted by malicious attackers.
Make sure this procedure is only used temporarily in a test and safe environment.
Note
The following procedure takes Google Chrome as an example. Access to

corresponding privacy setting window if working with other browsers.
1 Click Not secure in the address bar.
2 Click the Show certificate icon next to Certificate is not valid.
3 Click the Details tab in the displayed Certificate dialog box.
4 Click Copy to File.

6 Troubleshooting
6.1 What should I do if I experience a certificate failure when opening Robot Control Mate Web?
Continued
5 Follow the instructions in the Certificate Export Wizard to export the

certificate file.
• Remain the default file format DER endoded binary X.509 (.CER).
The certificate file is successfully exported.
6 Enter the browser settings page.
7 Choose Privacy and security > Security > Manage certificates.
8 In the displayed Certificates dialog box, click the Trusted Root Certification
Authorities tab.
9 Click Import in the displayed tab page.
10 Follow the instructions in the Certificate Import Wizard to import the
certificate file.
• Keep the Certificate store as Trusted Root Certification Authorities.
• Confirm the certificate installation by clicking Yes in the Security
Warning dialog box.
The certificate file is successfully imported and Not secure is replaced by
the Lock icon in the address bar.

Index
Index N
network security, 18

ABB AB
Robotics & Discrete Automation
S-721 68 VÄSTERÅS, Sweden
Telephone +46 10-732 50 00
ABB AS
Nordlysvegen 7, N-4340 BRYNE, Norway
Box 265, N-4349 BRYNE, Norway
Telephone: +47 22 87 2000
ABB Engineering (Shanghai) Ltd.

No. 4528 Kangxin Highway
PuDong New District
SHANGHAI 201319, China
Telephone: +86 21 6105 6666
ABB Inc.
1250 Brown Road
Auburn Hills, MI 48326
USA
Telephone: +1 248 391 9000
abb.com/robotics
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1 About the Robot Control Mate 13

4 Working with the Robot Control Mate 29

Operating manual - Robot Control Mate 5

Overview of this manual

Who should read this manual?

Continues on next page

Continues on next page

Operating manual - Robot Control Mate 9

All documents can be found via myABB Business Portal, www.abb.com/myABB.

Technical reference manuals

Continues on next page

• Examples of how to use the application.

Operating manual - Robot Control Mate 11

1 About the Robot Control Mate

Continues on next page

Continues on next page

Operating manual - Robot Control Mate 15

Using an emergency stop button

Leaving enabling device connection open

Activating a safety guard device

Continues on next page

Using the FlexPendant to reduce risks

Starting work with safety awareness

Monitoring robot motion and conditions for logging out

Operating manual - Robot Control Mate 19

Virtual controllers are always considered as connecting to the WAN port.

If the controller is in a RobotWare version earlier than the one specified in

Continues on next page

Installing the Robot Control Mate RS Add-In

Starting the Robot Control Mate RS Add-In

Continues on next page

If there is no controller connected, Unknown will be displayed in the

Uninstalling the Robot Control Mate RS Add-In

Continues on next page

Upgrading the Robot Control Mate RS Add-In

If RobotStudio is in a version earlier than the one specified in Prerequisites on

24 Operating manual - Robot Control Mate

3.2 Getting started with the Robot Control Mate Web

Installing the Robot Control Mate Web

Logging in the Robot Control Mate Web

Continues on next page

Checking the system settings

You can also activate the AllowMoveRobAuto and Heartbeat function

Continues on next page

• If not working as a local client, click Request to login as local client.

Logging in as a local client is required only when the controller is

• If the controller is in Manual mode, click Change and follow the

Operating manual - Robot Control Mate 27

4 Working with the Robot Control Mate

4.1.1 General configuration

4 Log in the controller using the user name and password.

Activating the AllowMoveRobAuto function

Activating the Heartbeat function

Operating manual - Robot Control Mate 29

4.1.2 Robot Control Mate on the MGMT port

Activating login as local client

The physical activation button associated with Verify Local Presence

8 Save the change and restart the controller.

30 Operating manual - Robot Control Mate

4.1.3 Robot Control Mate on the WAN port